• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Journal of the Korean Society for Railway
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• v.19 no.3
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• pp.314-323
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• 2016

Overhead line voltage of DC railway traction substations has rising or falling characteristics depending on the acceleration and regenerative braking of the subway train loads. The suppression of this irregular fluctuation of the line voltage gives rise to improved energy efficiency of both the railway substation and the trains. This paper presents parameter estimation schemes using the RC circuit model for an overhead line voltage at a 1500V DC electric railway traction substation. A linear artificial neural network with a back-propagation learning algorithm was trained using the measurement data for an overhead line voltage and four feeder currents. The least square estimation method was configured to implement batch processing of these measurement data. These estimation results have been presented and performance analysis has been achieved through raw data simulation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.29 no.1
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• pp.399-404
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• 2005

In this paper, An immunized PID(I-PID) controller based on cell mediated immune response is proposed to improve the control performance of the controller with PID scheme. And it is applied to the vibration of the building structure in the port with active damper systems. The immune system of organism in the real body regulates the antibody and T-cells to protect the attack from the foreign materials which are virus, germ cell, and other antigens. It has similar characteristics that are the adaptation and robustness to overcome disturbances and to control the plant of engineering application. At firstly, we build a model of the T-cell regulated immune response mechanism. We have also designed an I-PID controller focusing on the T-cell regulated immune response of biological immune system. Finally, we show that some computer simulations of the vibraton control for the building structure system with wind force excitation. These results for the proposed method also show that is has performance than other conventional controller design method.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.3
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• pp.63-71
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• 2007

During the design phase of a product, reliability and design engineers are called upon to evaluate the reliability of the system, The question of how to meet target reliability for the system arises when estimated reliability or cost is inadequate. This then becomes a problem of reliability allocation and system structure design. This study proposes the optimization methodology to achieve target reliability with minimum cost through construction of the cost function of system. In cost function, total cost means the sum of initial cost, repair cost and maintenance cost. This study constructs optimization problem about system structure design and reliability allocation using cost function. This problem constructed is solved by Multi-island Genetic Algorithm(MIGA), and applies to urban transit brake system. Current brake system of the urban transit is series system. Series system is the simplest and perhaps one of the most common system, but it demands high reliability and maintenance cost because all components must be operating to ensure system operation. Thus this study makes a comparative study by applying k-out-of-n system to brake system. This methodology presented can be a great tool for aiding reliability and design engineers in their decision-makings.

• Journal of Auto-vehicle Safety Association
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• v.5 no.2
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• pp.24-31
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• 2013

This paper describes a coordinated control algorithm for rear-side collision avoidance. In order to assist driver actively and increase driver's safety, the proposed coordinated control algorithm is designed to combine lateral control using a steering torque overlay by Motor Driven Power Steering (MDPS) and differential braking by Vehicle Stability Control (VSC). The main objective of a combined control strategy is twofold. The one is to prevent the collision between the subject vehicle and approaching vehicle in the adjacent lanes. The other is to limit actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort. In order to achieve these goals, the Lyapunov theory and LMI optimization methods has been employed. The proposed coordinated control algorithm for rear-side collision avoidance has been evaluated via simulation using CarSim and MATLAB/Simulink.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.4
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• pp.61-68
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• 2010

Appling high technology of aerospace to automobile, so it is able to progress safety which is a goal of future automobile and to approach development of self-control automobile. This is realized dynamic model of airplane at DFCS(Digital Flight Control System). The DFCS calculates control values for self-control flight. If this high technology applies to automobile, then it is able to be maneuvered automobile like UAV's self-control flight. In this paper is reanalyzed automobile dynamic applied load control model used high-tech of airplane. It analyzes riding comfortable according to movement of automobile using the load control model, presents method of solution for improvement riding comfortable and presents example of self-control system used the load control model for self-control driving.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.15 no.4
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• pp.14-22
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• 2001

In this paper, we design the Adaptive Neuro-Fuzzy Precompensator(ANFP) for the suppression of low-frequency oscillation and the improvement of system stability. Here, ANFP is designed to compensate the conventional Power System Stabilizer(PSS). This design technique has the structural merit that is easily implemented by adding ANFP to an existing PSS. Firstly, the Fuzzy Precompensator with Loaming ability is constructed and is directly learned from the input and output data of the generating unit. Because the ANFP has the property of learning, fuzzy rules and membership functions of the compensator can be automatically tuned by teaming algorithm Loaming is based on the minimization of the ems evaluated by comparing the output of the ANFP and a desired controller. Case studies show the 7posed schema can be provided the good damping of the power system over the wide range of operating conditions and improved dynamic performance of the system.

• The Journal of the Acoustical Society of Korea
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• v.37 no.6
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• pp.469-474
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• 2018

As urban population increases, research on urban environmental noise is getting more attention. In this study, we classify the abnormal noise occurring in traffic situation by using a deep learning algorithm which shows high performance in recent environmental noise classification studies. Specifically, we classify the four classes of tire skidding sounds, car crash sounds, car horn sounds, and normal sounds using convolutional neural networks. In addition, we add three environmental noises, including rain, wind and crowd noises, to our training data so that the classification model is more robust in real traffic situation with environmental noises. Experimental results show that the proposed traffic sound classification model achieves better performance than the existing algorithms, particularly under harsh conditions with environmental noises.

• Journal of the Institute of Convergence Signal Processing
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• v.22 no.4
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• pp.171-178
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• 2021

Caravans are easily affected by external physical factors and often cause dangerous situations for passengers. Therefore, in order to secure the stability of the passenger, there is a need to develop a sway reduction device capable of preventing the sway phenomenon in advance. This paper aims to minimize the hitch angle between the tow vehicle and the caravan. Specifically, the initial instability of the caravan is detected through an IMU sensor mounted on each of the tow vehicle and the caravan, and a control value is calculated to reduce errors from the Hitch angle and Hitch yaw rate using a PID controller. Different braking torques are generated, distributed, and controlled on the left and right brakes of the caravan according to the calculated control value. It could be verified through the driving experiment that the hitch angle was decreased compared to the case where the performance of the sway reduction device was not controlled, and the transverse stability improvement rate was improved by 94.49% compared to before control.